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휴머노이드 로봇의 전방향 이족보행 원격제어를 위한 안드로이드 애플리케이션 개발
박규영(GyuYung Park),윤재훈(JaeHun Yun),최영림(YoungLim Choi),김종욱(Jong-Wook Kim) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.2
Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot’s forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.
Particle Swarm Optimization 구현을 위한 안드로이드 애플리케이션 개발
최낙윤(Nakyoon Choi),최영림(Younglim Choi),윤재훈(Jaehun Yun),박규영(Gyuyoung Park),김종욱(Jong-Wook Kim) 한국정보기술학회 2013 한국정보기술학회논문지 Vol.11 No.1
In this paper, particle swarm optimization (PSO) acknowledged as the fast global optimization method has been implemented with an Android application to perform global optimization on smartphone. For the performance validation of the PSO application, the average function evaluation numbers and the run times are measured for the period to search the global minima for the four benchmark functions. The measurement have been executed for a desktop PC and a smartphone respectively for the performance comparison. In addition, it is verified that the proposed PSO application can locate the global minima of the benchmark functions within 1.2 milliseconds in maximum, which implies the capability of the proposed application to solve general engineering problems nearly real-time on the smartphone.